US 12,441,402 B2
Vehicle systems and methods for estimating road wheel angles
Yubiao Zhang, Sterling Heights, MI (US); Bo Yu, Novi, MI (US); and Jarred James Versical, Commerce Township, MI (US)
Assigned to GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US)
Filed by GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US)
Filed on Nov. 28, 2023, as Appl. No. 18/521,181.
Prior Publication US 2025/0171080 A1, May 29, 2025
Int. Cl. B62D 15/02 (2006.01)
CPC B62D 15/023 (2013.01) [B60W 2520/105 (2013.01); B60W 2520/125 (2013.01); B60W 2520/18 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A vehicle system for determining a road wheel angle of a vehicle, the vehicle system comprising:
a plurality of sensors configured to detect a plurality of vehicle parameters including at least a steering rack load on a steering rack of the vehicle; and
a control module in communication with the plurality of sensors, the control module configured to:
calculate a kingpin torque based on the sensed steering rack load and a wheel-to-body displacement of the vehicle;
determine a roll steer angle based on the wheel-to-body displacement of the vehicle;
determine a road wheel angle of the vehicle based on the roll steer angle and the kingpin torque; and
generate a signal indicative of the road wheel angle to control at least one vehicle control system.